CN105551311B - Method and device for determining whether aircraft passes through target waypoint - Google Patents

Method and device for determining whether aircraft passes through target waypoint Download PDF

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CN105551311B
CN105551311B CN201511021274.XA CN201511021274A CN105551311B CN 105551311 B CN105551311 B CN 105551311B CN 201511021274 A CN201511021274 A CN 201511021274A CN 105551311 B CN105551311 B CN 105551311B
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target waypoint
distance
airborne vehicle
aircraft
waypoint
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CN105551311A (en
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郎斌
孙妮娜
李泽轮
魏跃武
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Beijing Hezhong Sizhuang Space-Time Material Union Technology Co Ltd
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BEIJING ZHAOTONG ZHISHENG TECHNOLOGY CO LTD
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/727—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

本发明涉及航空管理领域，尤其涉及一种确定航空器是否经过目标航路点的方法和装置。该方法包括：比较目标航路点的前航路段和后航路段的长度；在目标航路点的前航路段和后航路段中较长的航路段上设置标准点，所述标准点到目标航路点的距离与较短的航路段的距离相等；获取航空器当前位置到标准点的第一距离，获取航空器当前位置到较短的航路段另一端点的第二距离；比较所述第一距离和所述第二距离的长度，根据比较结果确定航空器是否经过目标航路点。本发明实施例可以准确确定出航空器是否经过目标航路点，进而可以得出航空器经过目标航路点的准确时间，从而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率。

The present invention relates to the field of aviation management, and in particular to a method and device for determining whether an aircraft passes through a target waypoint. The method comprises: comparing the lengths of the front route segment and the rear route segment of the target waypoint; setting a standard point on the longer route segment of the front route segment and the rear route segment of the target waypoint, wherein the distance from the standard point to the target waypoint is equal to the distance from the shorter route segment; obtaining a first distance from the current position of the aircraft to the standard point, and obtaining a second distance from the current position of the aircraft to the other end point of the shorter route segment; comparing the lengths of the first distance and the second distance, and determining whether the aircraft passes through the target waypoint based on the comparison result. The embodiment of the present invention can accurately determine whether the aircraft passes through the target waypoint, and then obtain the accurate time when the aircraft passes through the target waypoint, thereby predicting air traffic flow, ensuring flight safety, and improving airspace resource utilization and airport operation efficiency.

Description

确定航空器是否经过目标航路点的方法和装置Method and apparatus for determining whether an aircraft has passed a target waypoint

技术领域technical field

本发明涉及航空管理领域，尤其涉及一种确定航空器是否经过目标航路点的方法和装置。The invention relates to the field of aviation management, in particular to a method and a device for determining whether an aircraft passes a target waypoint.

背景技术Background technique

随着空中交通流量的快速增长，空域的拥挤程度也大为增加，导致空中的飞行冲突十分严重，如果能够准确预测空中交通流量，提早对拥塞空域采取措施，不仅可以保证飞行安全，而且也可以有效利用空域资源，提高机场运营效率，因此如何准确的预测空中交通态势成为空管领域较为关注的一项技术。With the rapid growth of air traffic flow, the degree of congestion in the airspace has also increased greatly, leading to serious flight conflicts in the air. If the air traffic flow can be accurately predicted and early measures taken for congested airspace, not only can flight safety be guaranteed, but also To effectively utilize airspace resources and improve airport operation efficiency, how to accurately predict air traffic situation has become a technology that is more concerned in the field of air traffic control.

预测空中交通态势中一项重要技术就是如何准确确定航空器是否经过目标航路点，准确确定航空器是否经过目标航路点可以辅助空管人员掌握航空器的飞行动态，预测空中交通态势，同时也可保障航空器安全飞行。现有技术中航空器一般按照预定的航线计划飞行，然而当航空器受地面气流影响较大时，飞行航迹变化较为剧烈，而且航空器在飞行计划执行过程中，也会受到人为因素，这些因素均有可能导致航空器飞出计划航线，从而使得航空器在飞行过程中无法准确确定航空器是否经过目标航路点，进而无法准确预测空中交通态势，从而影响航空器的安全飞行。An important technology in predicting the air traffic situation is how to accurately determine whether the aircraft has passed the target waypoint. Accurately determining whether the aircraft has passed the target waypoint can assist the air traffic controller to grasp the flight dynamics of the aircraft, predict the air traffic situation, and at the same time ensure the safety of the aircraft. flight. In the prior art, the aircraft generally flies according to the predetermined route plan. However, when the aircraft is greatly affected by the ground airflow, the flight track changes more drastically, and the aircraft will also be subject to human factors during the execution of the flight plan. These factors have It may cause the aircraft to fly out of the planned route, so that the aircraft cannot accurately determine whether the aircraft has passed the target waypoint during the flight, and thus cannot accurately predict the air traffic situation, thereby affecting the safe flight of the aircraft.

发明内容Contents of the invention

为解决上述技术问题，本发明提供一种确定航空器是否经过目标航路点的方法和装置，可以准确确定出航空器是否经过目标航路点，进而可以得出航空器经过目标航路点的时间，从而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率。In order to solve the above technical problems, the present invention provides a method and device for determining whether the aircraft passes the target waypoint, which can accurately determine whether the aircraft passes the target waypoint, and then can obtain the time when the aircraft passes the target waypoint, so as to predict the time when the aircraft passes the target waypoint. Traffic flow, ensure flight safety, improve airspace resource utilization and airport operation efficiency.

本发明实施例提供了一种确定航空器是否经过目标航路点的方法，所述方法包括：An embodiment of the present invention provides a method for determining whether an aircraft passes a target waypoint, the method comprising:

比较目标航路点的前航路段和后航路段的长度；Comparing the lengths of the forward and backward segments of the target waypoint;

在目标航路点的前航路段和后航路段中较长的航路段上设置标准点，所述标准点到目标航路点的距离与较短的航路段的距离相等；A standard point is set on the longer route segment in the forward route section and the rear route segment of the target waypoint, and the distance from the standard point to the target waypoint is equal to the distance of the shorter route segment;

获取航空器当前位置到所述标准点的第一距离，获取航空器当前位置到较短的航路段另一端点的第二距离；Obtain a first distance from the current position of the aircraft to the standard point, and obtain a second distance from the current position of the aircraft to the other end point of the shorter route segment;

比较所述第一距离和所述第二距离的长度，根据比较结果确定航空器是否经过目标航路点。Comparing the lengths of the first distance and the second distance, and determining whether the aircraft passes the target waypoint according to the comparison result.

其中，当目标航路点的前航路段较长时，所述根据比较结果确定航空器是否经过目标航路点，具体为：Wherein, when the preceding route segment of the target waypoint is longer, the said comparison result determines whether the aircraft passes the target waypoint, specifically:

当第一距离小于第二距离时，确定航空器未经过目标航路点；determining that the aircraft has not passed the target waypoint when the first distance is less than the second distance;

当第一距离等于第二距离时，确定航空器正经过目标航路点；determining that the aircraft is passing the target waypoint when the first distance is equal to the second distance;

当第一距离大于第二距离时，确定航空器已经过目标航路点。When the first distance is greater than the second distance, it is determined that the aircraft has passed the target waypoint.

其中，当目标航路点的后航路段较长时，所述根据比较结果确定航空器是否经过目标航路点，具体为：Wherein, when the back route section of the target waypoint is relatively long, the determination of whether the aircraft passes the target waypoint according to the comparison result is specifically:

当第一距离大于第二距离时，确定航空器未经过目标航路点；When the first distance is greater than the second distance, determining that the aircraft has not passed the target waypoint;

当第一距离等于第二距离时，确定航空器正经过目标航路点；determining that the aircraft is passing the target waypoint when the first distance is equal to the second distance;

当第一距离小于第二距离时，确定航空器已经过目标航路点。When the first distance is less than the second distance, it is determined that the aircraft has passed the target waypoint.

进一步地，当确定航空器正经过目标航路点时，将航空器正经过目标航路点的雷达时间设置为航空器经过目标航路点的时间。Further, when it is determined that the aircraft is passing the target waypoint, the radar time when the aircraft is passing the target waypoint is set as the time when the aircraft passes the target waypoint.

进一步地，当确定航空器已经过目标航路点时，还包括：Further, when it is determined that the aircraft has passed the target waypoint, it also includes:

设置标准线，所述标准线经过所述目标航路点，且与所述标准点和较短航路段另一端点的连线垂直；Setting a standard line, the standard line passes through the target waypoint and is perpendicular to the line connecting the standard point and the other end point of the shorter route segment;

根据航空器在位置P1时的雷达时间、航空器在位置P2时的雷达时间、P1到标准线的垂直距离和P2到标准线的垂直距离，计算航空器经过目标航路点的时间，其中，P1为航空器未经过目标航路点时的位置，P2为航空器经过目标航路点后的位置。According to the radar time of the aircraft at position P1 , the radar time of the aircraft at position P2, the vertical distance from P1 to the standard line and the vertical distance from P2 to the standard line, calculate the time for the aircraft to pass the target waypoint, where, P 1 is the position of the aircraft before passing the target waypoint, and P 2 is the position of the aircraft after passing the target waypoint.

其中，根据航空器在位置P1时的雷达时间、航空器在位置P2时的雷达时间、P1到标准线的垂直距离和P2到标准线的垂直距离，计算航空器经过目标航路点的时间，具体为：Among them, according to the radar time when the aircraft is at position P1 , the radar time when the aircraft is at position P2, the vertical distance from P1 to the standard line and the vertical distance from P2 to the standard line, calculate the time when the aircraft passes the target waypoint, Specifically:

其中，T为航空器经过目标航路点的时间，T1为航空器在位置P1时的雷达时间，T2为航空器在位置P2时的雷达时间，S1为P1到标准线的垂直距离，S2为P2到标准线的垂直距离。 Among them, T is the time when the aircraft passes the target waypoint , T1 is the radar time when the aircraft is at position P1, T2 is the radar time when the aircraft is at position P2, S1 is the vertical distance from P1 to the standard line, S 2 is the vertical distance from P 2 to the standard line.

本发明实施例还提供了一种确定航空器是否经过目标航路点的装置，所述装置包括：第一比较模块，设置模块，获取模块，第二比较模块和确定模块；The embodiment of the present invention also provides a device for determining whether an aircraft passes a target waypoint, the device comprising: a first comparison module, a setting module, an acquisition module, a second comparison module and a determination module;

第一比较模块，用于比较目标航路点的前航路段和后航路段的长度；The first comparison module is used to compare the lengths of the forward route segment and the rear route segment of the target waypoint;

设置模块，用于在所述第一比较模块比较出的较长的航路段上设置标准点，所述标准点到目标航路点的距离与较短的航路段的距离相等；A setting module, configured to set a standard point on the longer route segment compared by the first comparison module, the distance from the standard point to the target waypoint is equal to the distance of the shorter route segment;

获取模块，用于获取航空器当前位置到所述设置模块设置的标准点的第一距离，获取航空器当前位置到较短的航路段另一端点的第二距离；An acquisition module, configured to acquire the first distance from the current position of the aircraft to the standard point set by the setting module, and acquire the second distance from the current position of the aircraft to the other end point of the shorter route segment;

第二比较模块，用于比较所述获取模块获取的第一距离和第二距离的长度；A second comparison module, configured to compare the lengths of the first distance and the second distance obtained by the acquisition module;

确定模块，用于根据所述第二比较模块的比较结果确定航空器是否经过目标航路点。A determination module, configured to determine whether the aircraft has passed the target waypoint according to the comparison result of the second comparison module.

进一步地，所述确定模块包括第一确定单元，第二确定单元和第三确定单元；Further, the determination module includes a first determination unit, a second determination unit and a third determination unit;

若所述第一比较模块比较出目标航路点的前航路段较长，则当所述第二比较模块比较出第一距离小于第二距离时，触发所述第一确定单元；If the first comparison module compares that the forward route segment of the target waypoint is longer, then when the second comparison module compares that the first distance is smaller than the second distance, trigger the first determination unit;

所述第一确定单元，用于确定航空器未经过目标航路点；The first determination unit is configured to determine that the aircraft has not passed the target waypoint;

当所述第二比较模块比较出第一距离等于第二距离时，触发所述第二确定单元；When the second comparison module compares that the first distance is equal to the second distance, trigger the second determination unit;

所述第二确定单元，用于确定航空器正经过目标航路点；The second determining unit is configured to determine that the aircraft is passing a target waypoint;

当所述第二比较模块比较出第一距离大于第二距离时，触发所述第三确定单元；When the second comparison module compares that the first distance is greater than the second distance, trigger the third determination unit;

所述第三确定单元，用于确定航空器已经过目标航路点。The third determination unit is configured to determine that the aircraft has passed the target waypoint.

进一步地，所述确定模块包括第一确定单元，第二确定单元和第三确定单元；Further, the determination module includes a first determination unit, a second determination unit and a third determination unit;

若所述第一比较模块比较出目标航路点的后航路段较长，则当所述第二比较模块比较出第一距离大于第二距离时，触发所述第一确定单元；If the first comparison module compares that the backward route segment of the target waypoint is longer, then when the second comparison module compares that the first distance is greater than the second distance, trigger the first determination unit;

所述第一确定单元，用于确定航空器未经过目标航路点；The first determination unit is configured to determine that the aircraft has not passed the target waypoint;

当所述第二比较模块比较出第一距离等于第二距离时，触发所述第二确定单元；When the second comparison module compares that the first distance is equal to the second distance, trigger the second determination unit;

所述第二确定单元，用于确定航空器正经过目标航路点；The second determining unit is configured to determine that the aircraft is passing a target waypoint;

当所述第二比较模块比较出第一距离小于第二距离时，触发所述第三确定单元；When the second comparison module compares that the first distance is smaller than the second distance, trigger the third determination unit;

所述第三确定单元，用于确定航空器已经过目标航路点。The third determination unit is configured to determine that the aircraft has passed the target waypoint.

进一步地，还包括：第二设置模块和计算模块；Further, it also includes: a second setting module and a calculation module;

所述第二设置模块，用于设置标准线，所述标准线经过目标航路点，且与所述标准点和较短航路段另一端点的连线垂直；The second setting module is used to set a standard line, the standard line passes through the target waypoint and is perpendicular to the line connecting the standard point and the other end point of the shorter route segment;

所述计算模块，用于根据航空器在位置P1时的雷达时间、航空器在位置P2时的雷达时间、P1到标准线的垂直距离和P2到标准线的垂直距离，计算航空器经过目标航路点的时间，其中，P1为航空器未经过目标航路点时的位置，P2为航空器经过目标航路点后的位置。 The calculation module is used to calculate the aircraft passing the target according to the radar time of the aircraft at position P1, the radar time of the aircraft at position P2, the vertical distance from P1 to the standard line and the vertical distance from P2 to the standard line The time of the waypoint, where P 1 is the position of the aircraft before passing the target waypoint, and P 2 is the position of the aircraft after passing the target waypoint.

本发明实施例通过比较目标航路点的前航路段和后航路段的长度，在较长的航路段上设置标准点，该标准点到目标航路点的距离与较短的航路段的距离相等，比较航空器当前位置到标准点的第一距离和航空器当前位置到较短的航路段另一端点的第二距离的长度，根据比较结果可以准确确定出航空器是否经过目标航路点，进而可以得出航空器经过目标航路点的准确时间，从而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率；进一步地，当确定航空器正经过目标航路点时，将航空器正经过目标航路点的雷达时间作为航空器经过目标航路点的时间；进一步地，当确定航空器已经过目标航路点时，设置标准线，根据航空器在经过标准线之前的雷达时间、航空器在经过标准线之后的雷达时间、航空器在经过标准线之前的位置到标准线的垂直距离和航空器在经过标准线之后的位置到标准线的垂直距离，可以准确计算出航空器经过目标航路点的时间，并且当航空器由于特殊情况在部分时间内偏离了计划航路时，仍然可以准确得到航空器经过目标航路点的时间。In the embodiment of the present invention, by comparing the lengths of the forward route section and the rear route section of the target waypoint, a standard point is set on the longer route section, and the distance from the standard point to the target waypoint is equal to the distance from the shorter route section. Comparing the length of the first distance from the current position of the aircraft to the standard point and the second distance from the current position of the aircraft to the other end point of the shorter route segment, it can be accurately determined whether the aircraft has passed the target waypoint according to the comparison result, and then it can be concluded that the aircraft The accurate time of passing the target waypoint can predict air traffic flow, ensure flight safety, improve airspace resource utilization and airport operation efficiency; further, when it is determined that the aircraft is passing the target waypoint, the aircraft is passing the target waypoint. The radar time is taken as the time when the aircraft passes the target waypoint; further, when it is determined that the aircraft has passed the target waypoint, set the standard line, according to the radar time of the aircraft before passing the standard line, the radar time of the aircraft after passing the standard line, and the aircraft The vertical distance from the position before passing the standard line to the standard line and the vertical distance from the position of the aircraft after passing the standard line to the standard line can accurately calculate the time when the aircraft passes the target waypoint, and when the aircraft passes through the target waypoint due to special circumstances When the aircraft deviates from the planned route, the time when the aircraft passes the target waypoint can still be accurately obtained.

附图说明Description of drawings

图1是本发明提供的一种确定航空器是否经过目标航路点的方法流程示意图；Fig. 1 is a schematic flow chart of a method for determining whether an aircraft passes a target waypoint provided by the present invention;

图2是本发明提供的一种航空器的航线示意图；Fig. 2 is the route schematic diagram of a kind of aircraft provided by the present invention;

图3是本发明提供的另一种航空器的航线示意图；Fig. 3 is the route schematic diagram of another kind of aircraft provided by the present invention;

图4是本发明提供的一种确定航空器是否经过目标航路点的装置结构示意图。Fig. 4 is a schematic structural diagram of a device for determining whether an aircraft passes a target waypoint provided by the present invention.

具体实施方式detailed description

下面结合附图和实施例，对发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific implementation manner of the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

参见图1，本发明实施例提供了一种确定航空器是否经过目标航路点的方法，该方法包括：Referring to Fig. 1, an embodiment of the present invention provides a method for determining whether an aircraft passes a target waypoint, the method comprising:

步骤100：比较目标航路点的前航路段和后航路段的长度；Step 100: comparing the lengths of the forward route segment and the backward route segment of the target waypoint;

图2和图3为本发明实施例提供的航空器的航线示意图，图2和图3中，目标航路点均为C，目标航路点C的前航路段为BC，目标航路点C的后航路段为CD，图2中经过比较可以得出，目标航路点C的前航路段BC较长，目标航路点C的后航路段CD较短，即BC>CD；图3中经过比较可以得出，目标航路点C的前航路段BC较短，目标航路点C的后航路段CD较长，即BC<CD。Fig. 2 and Fig. 3 are the route schematic diagrams of the aircraft that the embodiment of the present invention provides, among Fig. 2 and Fig. 3, target waypoint is C, and the front route section of target waypoint C is BC, and the back course section of target waypoint C is CD. After comparison in Figure 2, it can be concluded that the forward route section BC of the target waypoint C is longer, and the rearward route section CD of the target waypoint C is shorter, that is, BC>CD; after comparison in Figure 3, it can be concluded that The forward route segment BC of the target waypoint C is short, and the backward route segment CD of the target waypoint C is longer, that is, BC<CD.

步骤101：在目标航路点的前航路段和后航路段中较长的航路段上设置标准点，该标准点到目标航路点的距离与较短的航路段的距离相等；Step 101: setting a standard point on the longer route segment of the forward route segment and the rear route segment of the target waypoint, the distance from the standard point to the target waypoint is equal to the distance of the shorter route segment;

仍以图2和图3为例进行说明，设标准点为B1，图2中BC>CD，则标准点B1位于BC上，B1C＝CD；图3中BC<CD，则标准点B1位于CD上，B1C＝BC。Still taking Fig. 2 and Fig. 3 as an example, let the standard point be B 1 . In Fig. 2, BC>CD, then the standard point B 1 is located on BC, and B 1 C=CD; Point B 1 lies on CD, B 1 C=BC.

步骤102：获取航空器当前位置到标准点的第一距离，获取航空器当前位置到较短的航路段另一端点的第二距离；Step 102: Obtain the first distance from the current position of the aircraft to the standard point, and obtain the second distance from the current position of the aircraft to the other end point of the shorter route segment;

以图2为例进行说明，图2中，标准点B1位于BC上，B1C＝CD，设P1、P’和P2分别为航空器在不同时刻的当前位置，当航空器当前位置为P1时，航空器当前位置到标准点的第一距离也就是P1B1的长度，较短的航路段的一个端点是目标航路点C，另一个端点为航路点D，航空器当前位置到较短的航路段另一端点的第二距离也就是P1D的长度；Take Fig. 2 as an example for illustration. In Fig. 2, the standard point B 1 is located on BC, B 1 C=CD, and P 1 , P' and P 2 are respectively the current positions of the aircraft at different times. When the current position of the aircraft is When P 1 , the first distance from the current position of the aircraft to the standard point is the length of P 1 B 1. One end point of the shorter route segment is the target waypoint C, and the other end point is the waypoint D. The second distance at the other end point of the short route segment is also the length of P 1 D;

当航空器当前位置为P’时，航空器当前位置到标准点的第一距离也就是P’B1的长度，航空器当前位置到较短的航路段另一端点的第二距离也就是P’D的长度；When the current position of the aircraft is P', the first distance from the current position of the aircraft to the standard point is the length of P'B 1 , and the second distance from the current position of the aircraft to the other end point of the shorter route segment is also the length of P'D length;

当航空器当前位置为P2时，航空器当前位置到标准点的第一距离也就是P2B1的长度，航空器当前位置到较短的航路段另一端点的第二距离也就是P2D的长度。When the current position of the aircraft is P 2 , the first distance from the current position of the aircraft to the standard point is the length of P 2 B 1 , and the second distance from the current position of the aircraft to the other end of the shorter route segment is the length of P 2 D length.

以图3为例进行说明，图3中，标准点B1位于CD上，B1C＝BC，设P1、P’和P2分别为航空器在不同时刻的当前位置，当航空器当前位置为P1时，航空器当前位置到标准点的第一距离也就是P1B1的长度，较短的航路段的一个端点是目标航路点C，另一个端点为航路点B，航空器当前位置到较短的航路段另一端点的第二距离也就是P1B的长度；Take Figure 3 as an example for illustration. In Figure 3, the standard point B 1 is located on CD, B 1 C=BC, and P 1 , P' and P 2 are respectively the current positions of the aircraft at different times. When the current position of the aircraft is When P 1 , the first distance from the current position of the aircraft to the standard point is the length of P 1 B 1. One end point of the shorter route segment is the target waypoint C, and the other end point is the waypoint B. The second distance at the other end point of the short route segment is also the length of P 1 B;

当航空器当前位置为P’时，航空器当前位置到标准点的第一距离也就是P’B1的长度，航空器当前位置到较短的航路段另一端点的第二距离也就是P’B的长度；When the current position of the aircraft is P', the first distance from the current position of the aircraft to the standard point is the length of P'B 1 , and the second distance from the current position of the aircraft to the other end point of the shorter route segment is also the length of P'B length;

当航空器当前位置为P2时，航空器当前位置到标准点的第一距离也就是P2B1的长度，航空器当前位置到较短的航路段另一端点的第二距离也就是P2B的长度。When the current position of the aircraft is P 2 , the first distance from the current position of the aircraft to the standard point is the length of P 2 B 1 , and the second distance from the current position of the aircraft to the other end point of the shorter route segment is the length of P 2 B length.

步骤103：比较上述获取的第一距离和第二距离的长度，根据比较结果确定航空器是否经过目标航路点。Step 103: Compare the lengths of the acquired first distance and the second distance, and determine whether the aircraft passes the target waypoint according to the comparison result.

其中，若步骤100中比较出目标航路点的前航路段较长，则步骤103中，根据比较结果确定航空器是否经过目标航路点，具体为：Wherein, if in step 100 it is compared that the forward route section of the target waypoint is longer, then in step 103, it is determined whether the aircraft passes the target waypoint according to the comparison result, specifically:

当第一距离小于第二距离时，确定航空器未经过目标航路点；determining that the aircraft has not passed the target waypoint when the first distance is less than the second distance;

当第一距离等于第二距离时，确定航空器正经过目标航路点；determining that the aircraft is passing the target waypoint when the first distance is equal to the second distance;

当第一距离大于第二距离时，确定航空器已经过目标航路点。When the first distance is greater than the second distance, it is determined that the aircraft has passed the target waypoint.

以图2为例进行说明，P1B1<P1D，确定航空器未经过目标航路点C；Take Figure 2 as an example to illustrate, P 1 B 1 <P 1 D, it is determined that the aircraft has not passed the target waypoint C;

P’B1＝P’D，确定航空器正经过目标航路点C；P'B 1 =P'D, determine that the aircraft is passing the target waypoint C;

P2B1>P2D，确定航空器已经过目标航路点C。P 2 B 1 >P 2 D, determine that the aircraft has passed the target waypoint C.

其中，若步骤100中比较出目标航路点的后航路段较长，则步骤103中，根据比较结果确定航空器是否经过目标航路点，具体为：Wherein, if in step 100, it is relatively long to find out that the back route section of the target waypoint is longer, then in step 103, it is determined whether the aircraft passes through the target waypoint according to the comparison result, specifically:

当第一距离大于第二距离时，确定航空器未经过目标航路点；When the first distance is greater than the second distance, determining that the aircraft has not passed the target waypoint;

当第一距离等于第二距离时，确定航空器正经过目标航路点；determining that the aircraft is passing the target waypoint when the first distance is equal to the second distance;

当第一距离小于第二距离时，确定航空器已经过目标航路点。When the first distance is less than the second distance, it is determined that the aircraft has passed the target waypoint.

以图3为例进行说明，P1B1>P1B，确定航空器未经过目标航路点C；Taking Figure 3 as an example, P 1 B 1 >P 1 B, it is determined that the aircraft has not passed the target waypoint C;

P’B1＝P’B，确定航空器正经过目标航路点C；P'B 1 =P'B, determine that the aircraft is passing the target waypoint C;

P2B1<P2B，确定航空器已经过目标航路点C。P 2 B 1 <P 2 B, it is determined that the aircraft has passed the target waypoint C.

进一步地，在确定航空器正经过目标航路点C或者已经过目标航路点C之后，本发明实施例还可以进一步得到航空器经过目标航路点C的时间，即本发明实施例中当确定航空器正经过目标航路点时，还包括：将航空器正经过目标航路点的雷达时间设置为航空器经过目标航路点的时间。Further, after it is determined that the aircraft is passing the target waypoint C or has passed the target waypoint C, the embodiment of the present invention can further obtain the time when the aircraft passes the target waypoint C, that is, in the embodiment of the present invention, when it is determined that the aircraft is passing the target waypoint C When selecting a waypoint, it also includes: setting the radar time when the aircraft is passing the target waypoint to the time when the aircraft passes the target waypoint.

或者，当确定航空器已经过目标航路点时，本发明实施例还包括：Or, when it is determined that the aircraft has passed the target waypoint, the embodiment of the present invention further includes:

设置标准线，该标准线经过目标航路点，且与标准点和较短航路段另一端点的连线垂直；Set the standard line, which passes through the target waypoint and is perpendicular to the line connecting the standard point and the other end point of the shorter route segment;

以图2为例进行说明，图2中，标准线为经过目标航路点C，且垂直于B1D的直线1；Take Figure 2 as an example for illustration. In Figure 2, the standard line is the straight line 1 passing through the target waypoint C and perpendicular to B 1 D;

以图3为例进行说明，图3中，标准线为经过目标航路点C，且垂直于BB1的直线2。Take FIG. 3 as an example for illustration. In FIG. 3 , the standard line is a straight line 2 that passes through the target waypoint C and is perpendicular to BB 1 .

根据航空器在位置P1时的雷达时间、航空器在位置P2时的雷达时间、P1到标准线的垂直距离和P2到标准线的垂直距离，计算航空器经过目标航路点的时间，其中，P1为航空器未经过目标航路点时的位置，P2为航空器经过目标航路点后的位置。According to the radar time of the aircraft at position P1 , the radar time of the aircraft at position P2, the vertical distance from P1 to the standard line and the vertical distance from P2 to the standard line, calculate the time for the aircraft to pass the target waypoint, where, P 1 is the position of the aircraft before passing the target waypoint, and P 2 is the position of the aircraft after passing the target waypoint.

具体地，设航空器经过目标航路点的时间为T，则其中，T1为航空器在位置P1时的雷达时间，T2为航空器在位置P2时的雷达时间，S1为P1到标准线的垂直距离，S2为P2到标准线的垂直距离。Specifically, assuming that the time for the aircraft to pass the target waypoint is T, then Among them, T 1 is the radar time when the aircraft is at position P 1 , T 2 is the radar time when the aircraft is at position P 2 , S 1 is the vertical distance from P 1 to the standard line, and S 2 is the vertical distance from P 2 to the standard line distance.

现有技术中以目标航路点为中心，对雷达在目标航路点半径内扫描到的时间进行平均，将平均时间作为航空器经过目标航路点的时间，但该平均时间有可能比航空器实际经过目标航路点的时间提前或延后，不够准确；进一步地，当航空器偏航时，雷达无法扫描到航空器，进而也就无法得到航空器经过目标航路点的时间；In the prior art, the target waypoint is taken as the center, and the time scanned by the radar within the radius of the target waypoint is averaged, and the average time is taken as the time for the aircraft to pass the target waypoint, but the average time may be longer than the actual time of the aircraft passing the target waypoint. The time of the point is advanced or delayed, which is not accurate enough; further, when the aircraft yaws, the radar cannot scan the aircraft, and thus the time when the aircraft passes the target waypoint cannot be obtained;

本发明实施例当确定航空器正经过目标航路点时，将航空器正经过目标航路点的雷达时间作为航空器经过目标航路点的时间；当确定航空器已经过目标航路点时，设置标准线，根据航空器在经过标准线之前的雷达时间、航空器在经过标准线之后的雷达时间、航空器在经过标准线之前的位置到标准线的垂直距离和航空器在经过标准线之后的位置到标准线的垂直距离，可以准确计算出航空器经过目标航路点的时间，并且当航空器由于特殊情况在部分时间内偏离了计划航路时，仍然可以准确得到航空器经过目标航路点的时间，进而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率。In the embodiment of the present invention, when it is determined that the aircraft is passing through the target waypoint, the radar time when the aircraft is passing through the target waypoint is used as the time when the aircraft passes through the target waypoint; when it is determined that the aircraft has passed the target waypoint, a standard line is set. The radar time before passing the standard line, the radar time after the aircraft passed the standard line, the vertical distance from the position of the aircraft before passing the standard line to the standard line, and the vertical distance from the position of the aircraft after passing the standard line to the standard line can be accurately Calculate the time when the aircraft passes the target waypoint, and when the aircraft deviates from the planned route for a part of the time due to special circumstances, the time when the aircraft passes the target waypoint can still be accurately obtained, and then the air traffic flow can be predicted to ensure flight safety and improve Airspace resource utilization and airport operational efficiency.

本发明实施例通过比较目标航路点的前航路段和后航路段的长度，在较长的航路段上设置标准点，该标准点到目标航路点的距离与较短的航路段的距离相等，比较航空器当前位置到标准点的第一距离和航空器当前位置到较短的航路段另一端点的第二距离的长度，根据比较结果可以准确确定出航空器是否经过目标航路点，进而可以得出航空器经过目标航路点的准确时间，从而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率；进一步地，当确定航空器正经过目标航路点时，将航空器正经过目标航路点的雷达时间作为航空器经过目标航路点的时间；进一步地，当确定航空器已经过目标航路点时，设置标准线，根据航空器在经过标准线之前的雷达时间、航空器在经过标准线之后的雷达时间、航空器在经过标准线之前的位置到标准线的垂直距离和航空器在经过标准线之后的位置到标准线的垂直距离，可以准确计算出航空器经过目标航路点的时间，并且当航空器由于特殊情况在部分时间内偏离了计划航路时，仍然可以准确得到航空器经过目标航路点的时间。In the embodiment of the present invention, by comparing the lengths of the forward route section and the rear route section of the target waypoint, a standard point is set on the longer route section, and the distance from the standard point to the target waypoint is equal to the distance from the shorter route section. Comparing the length of the first distance from the current position of the aircraft to the standard point and the second distance from the current position of the aircraft to the other end point of the shorter route segment, it can be accurately determined whether the aircraft has passed the target waypoint according to the comparison result, and then it can be concluded that the aircraft The accurate time of passing the target waypoint can predict air traffic flow, ensure flight safety, improve airspace resource utilization and airport operation efficiency; further, when it is determined that the aircraft is passing the target waypoint, the aircraft is passing the target waypoint. The radar time is taken as the time when the aircraft passes the target waypoint; further, when it is determined that the aircraft has passed the target waypoint, set the standard line, according to the radar time of the aircraft before passing the standard line, the radar time of the aircraft after passing the standard line, and the aircraft The vertical distance from the position before passing the standard line to the standard line and the vertical distance from the position of the aircraft after passing the standard line to the standard line can accurately calculate the time when the aircraft passes the target waypoint, and when the aircraft passes through the target waypoint due to special circumstances When the aircraft deviates from the planned route, the time when the aircraft passes the target waypoint can still be accurately obtained.

参见图4，本发明实施例提供了一种确定航空器是否经过目标航路点的装置，该装置包括：第一比较模块41，设置模块42，获取模块43，第二比较模块44和确定模块45；Referring to Fig. 4, an embodiment of the present invention provides a device for determining whether an aircraft passes a target waypoint, the device comprising: a first comparison module 41, a setting module 42, an acquisition module 43, a second comparison module 44 and a determination module 45;

第一比较模块41，用于比较目标航路点的前航路段和后航路段的长度；The first comparison module 41 is used to compare the lengths of the forward route segment and the rear route segment of the target waypoint;

设置模块42，用于在第一比较模块41比较出的较长的航路段上设置标准点，该标准点到目标航路点的距离与较短的航路段的距离相等；The setting module 42 is used to set a standard point on the longer route section compared by the first comparison module 41, and the distance from the standard point to the target waypoint is equal to the distance of the shorter route segment;

获取模块43，用于获取航空器当前位置到设置模块42设置的标准点的第一距离，获取航空器当前位置到较短的航路段另一端点的第二距离；The obtaining module 43 is used to obtain the first distance from the current position of the aircraft to the standard point set by the setting module 42, and obtain the second distance from the current position of the aircraft to the other end point of the shorter route segment;

第二比较模块44，用于比较获取模块43获取的第一距离和第二距离的长度；The second comparison module 44 is used to compare the lengths of the first distance and the second distance obtained by the acquisition module 43;

确定模块45，用于根据第二比较模块44的比较结果确定航空器是否经过目标航路点。The determination module 45 is configured to determine whether the aircraft has passed the target waypoint according to the comparison result of the second comparison module 44 .

其中，确定模块45包括第一确定单元451，第二确定单元452和第三确定单元453；Wherein, the determining module 45 includes a first determining unit 451, a second determining unit 452 and a third determining unit 453;

若第一比较模块41比较出目标航路点的前航路段较长，则当第二比较模块44比较出第一距离小于第二距离时，触发第一确定单元451；If the first comparison module 41 compares that the forward route segment of the target waypoint is longer, then when the second comparison module 44 compares that the first distance is smaller than the second distance, trigger the first determination unit 451;

第一确定单元451，用于确定航空器未经过目标航路点；The first determination unit 451 is configured to determine that the aircraft has not passed the target waypoint;

当第二比较模块44比较出第一距离等于第二距离时，触发第二确定单元452；When the second comparison module 44 compares that the first distance is equal to the second distance, trigger the second determination unit 452;

第二确定单元452，用于确定航空器正经过目标航路点；The second determination unit 452 is configured to determine that the aircraft is passing the target waypoint;

当第二比较模块44比较出第一距离大于第二距离时，触发第三确定单元453；When the second comparison module 44 compares that the first distance is greater than the second distance, trigger the third determination unit 453;

第三确定单元453，用于确定航空器已经过目标航路点。The third determination unit 453 is configured to determine that the aircraft has passed the target waypoint.

若第一比较模块41比较出目标航路点的后航路段较长，则当第二比较模块44比较出第一距离大于第二距离时，触发第一确定单元451；If the first comparison module 41 compares that the backward route segment of the target waypoint is longer, then when the second comparison module 44 compares that the first distance is greater than the second distance, trigger the first determination unit 451;

第一确定单元451，用于确定航空器未经过目标航路点；The first determination unit 451 is configured to determine that the aircraft has not passed the target waypoint;

当第二比较模块44比较出第一距离等于第二距离时，触发第二确定单元452；When the second comparison module 44 compares that the first distance is equal to the second distance, trigger the second determination unit 452;

第二确定单元452，用于确定航空器正经过目标航路点；The second determination unit 452 is configured to determine that the aircraft is passing the target waypoint;

当第二比较模块44比较出第一距离小于第二距离时，触发第三确定单元453；When the second comparison module 44 compares that the first distance is smaller than the second distance, trigger the third determination unit 453;

第三确定单元453，用于确定航空器已经过目标航路点。The third determination unit 453 is configured to determine that the aircraft has passed the target waypoint.

进一步地，在第二确定单元452确定航空器正经过目标航路点时，本发明实施例还包括：第一设置模块，用于将航空器正经过目标航路点的雷达时间设置为航空器经过目标航路点的时间。Further, when the second determining unit 452 determines that the aircraft is passing the target waypoint, the embodiment of the present invention further includes: a first setting module, which is used to set the radar time when the aircraft is passing the target waypoint as the time when the aircraft passes the target waypoint time.

或者，在第三确定单元453确定航空器已经过目标航路点之后，本发明实施例还包括：第二设置模块和计算模块；Or, after the third determination unit 453 determines that the aircraft has passed the target waypoint, the embodiment of the present invention further includes: a second setting module and a calculation module;

其中，第二设置模块，用于设置标准线，该标准线经过目标航路点，且与标准点和较短航路段另一端点的连线垂直；Wherein, the second setting module is used to set a standard line, which passes through the target waypoint and is perpendicular to the line connecting the standard point and the other end point of the shorter route segment;

计算模块，用于根据航空器在位置P1时的雷达时间、航空器在位置P2时的雷达时间、P1到标准线的垂直距离和P2到标准线的垂直距离，计算航空器经过目标航路点的时间，其中，P1为航空器未经过目标航路点时的位置，P2为航空器经过目标航路点后的位置。 The calculation module is used to calculate the aircraft passing the target waypoint according to the radar time when the aircraft is at position P1 , the radar time when the aircraft is at position P2, the vertical distance from P1 to the standard line, and the vertical distance from P2 to the standard line , where P 1 is the position of the aircraft before passing the target waypoint, and P 2 is the position of the aircraft after passing the target waypoint.

具体地，设航空器经过目标航路点的时间为T，则其中，T1为航空器在位置P1时的雷达时间，T2为航空器在位置P2时的雷达时间，S1为P1到标准线的垂直距离，S2为P2到标准线的垂直距离。Specifically, assuming that the time for the aircraft to pass the target waypoint is T, then Among them, T 1 is the radar time when the aircraft is at position P 1 , T 2 is the radar time when the aircraft is at position P 2 , S 1 is the vertical distance from P 1 to the standard line, and S 2 is the vertical distance from P 2 to the standard line distance.

本发明实施例通过比较目标航路点的前航路段和后航路段的长度，在较长的航路段上设置标准点，该标准点到目标航路点的距离与较短的航路段的距离相等，比较航空器当前位置到标准点的第一距离和航空器当前位置到较短的航路段另一端点的第二距离的长度，根据比较结果可以准确确定出航空器是否经过目标航路点，进而可以得出航空器经过目标航路点的准确时间，从而可以预测空中交通流量，保证飞行安全，提高空域资源利用率和机场运行效率；进一步地，当确定航空器正经过目标航路点时，将航空器正经过目标航路点的雷达时间作为航空器经过目标航路点的时间；进一步地，当确定航空器已经过目标航路点时，设置标准线，根据航空器在经过标准线之前的雷达时间、航空器在经过标准线之后的雷达时间、航空器在经过标准线之前的位置到标准线的垂直距离和航空器在经过标准线之后的位置到标准线的垂直距离，可以准确计算出航空器经过目标航路点的时间，并且当航空器由于特殊情况在部分时间内偏离了计划航路时，仍然可以准确得到航空器经过目标航路点的时间。In the embodiment of the present invention, by comparing the lengths of the forward route section and the rear route section of the target waypoint, a standard point is set on the longer route section, and the distance from the standard point to the target waypoint is equal to the distance from the shorter route section. Comparing the length of the first distance from the current position of the aircraft to the standard point and the second distance from the current position of the aircraft to the other end point of the shorter route segment, it can be accurately determined whether the aircraft has passed the target waypoint according to the comparison result, and then it can be concluded that the aircraft The accurate time of passing the target waypoint can predict air traffic flow, ensure flight safety, improve airspace resource utilization and airport operation efficiency; further, when it is determined that the aircraft is passing the target waypoint, the aircraft is passing the target waypoint. The radar time is taken as the time when the aircraft passes the target waypoint; further, when it is determined that the aircraft has passed the target waypoint, set the standard line, according to the radar time of the aircraft before passing the standard line, the radar time of the aircraft after passing the standard line, and the aircraft The vertical distance from the position before passing the standard line to the standard line and the vertical distance from the position of the aircraft after passing the standard line to the standard line can accurately calculate the time when the aircraft passes the target waypoint, and when the aircraft passes through the target waypoint due to special circumstances When the aircraft deviates from the planned route, the time when the aircraft passes the target waypoint can still be accurately obtained.

以上所述仅是本发明的优选实施方式，并不用于限制本发明，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变型，这些改进和变型也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can be made without departing from the technical principle of the present invention. and modifications, these improvements and modifications should also be considered as the protection scope of the present invention.

Claims (10)

1. it is a kind of determination airborne vehicle whether the method Jing Guo target waypoint, it is characterised in that methods described includes：
The length of the preceding air route Duan Hehou air routes section of comparison object way point；
Standard point, the standard point to mesh are set in longer air route section in the preceding air route Duan Hehou air routes section of target waypoint The distance for marking way point is equal with the distance of shorter air route section；
Airborne vehicle current location is obtained to the first distance of the standard point, obtains airborne vehicle current location to shorter air route section The second distance of another end points；Wherein, an end points of shorter air route section is the target waypoint, another end points refer to compared with Another end points in two end points of short air route section in addition to target waypoint；
Compare first distance and the length of the second distance, determine airborne vehicle whether by target boat according to comparative result Waypoint.
2. according to the method for claim 1, it is characterised in that when the preceding air route section of target waypoint is longer, according to than Relatively result determines whether airborne vehicle passes through target waypoint, is specially：
When the first distance is less than second distance, determine airborne vehicle without target waypoint；
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint；
When the first distance is more than second distance, determine that airborne vehicle has been subjected to target waypoint.
3. according to the method for claim 1, it is characterised in that when the rear air route section of target waypoint is longer, according to than Relatively result determines whether airborne vehicle passes through target waypoint, is specially：
When the first distance is more than second distance, determine airborne vehicle without target waypoint；
When the first distance is equal to second distance, determine that airborne vehicle passes by target waypoint；
When the first distance is less than second distance, determine that airborne vehicle has been subjected to target waypoint.
4. according to the method in claim 2 or 3, it is characterised in that, will when it is determined that airborne vehicle passes by target waypoint The radar time that airborne vehicle passes by target waypoint is arranged to time of the airborne vehicle Jing Guo target waypoint.
5. according to the method in claim 2 or 3, it is characterised in that when it is determined that airborne vehicle has been subjected to target waypoint, also Including：
Normal line is set, the normal line passes through the target waypoint, and with the standard point and the shorter air route section other end The line of point is vertical；
According to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When the radar time, the P1To the standard The vertical range of line and the P2To the vertical range of the normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, its In, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
6. according to the method for claim 5, it is characterised in that according to airborne vehicle in position P1When the radar time, airborne vehicle In position P2When the radar time, the P1Vertical range and the P to the normal line2To the normal line it is vertical away from From, time of the calculating airborne vehicle Jing Guo target waypoint, specially：
Wherein, T is time of the airborne vehicle Jing Guo target waypoint, T1It is airborne vehicle in position P1 When the radar time, T2It is airborne vehicle in position P2When the radar time, S1For P1To the vertical range of normal line, S2For P2To mark The vertical range of directrix.
7. it is a kind of determination airborne vehicle whether the device Jing Guo target waypoint, it is characterised in that described device includes：First compares Module, setup module, acquisition module, the second comparison module and determining module；
First comparison module, the length for the preceding air route Duan Hehou air routes section of comparison object way point；
Setup module, for setting standard point, the standard in the longer air route section that is compared in first comparison module The distance of point to target waypoint is equal with the distance of shorter air route section；
Acquisition module, the first distance of the standard point set for obtaining airborne vehicle current location to the setup module, obtain Second distance of the airborne vehicle current location to shorter another end points of air route section；Wherein, an end points of shorter air route section is The target waypoint, another end points refer to another end in addition to target waypoint in two end points of shorter air route section Point；
Second comparison module, the first distance and the length of second distance obtained for the acquisition module；
Determining module, for determining whether airborne vehicle passes through target waypoint according to the comparative result of second comparison module.
8. device according to claim 7, it is characterised in that the determining module includes the first determining unit, and second is true Order member and the 3rd determining unit；
If the preceding air route section that first comparison module compares target waypoint is longer, when second comparison module compares Go out first apart from when being less than second distance, trigger first determining unit；
First determining unit, for determining airborne vehicle without target waypoint；
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered；
Second determining unit, for determining that airborne vehicle passes by target waypoint；
When second comparison module, which compares the first distance, is more than second distance, the 3rd determining unit is triggered；
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
9. device according to claim 7, it is characterised in that the determining module includes the first determining unit, and second is true Order member and the 3rd determining unit；
If the rear air route section that first comparison module compares target waypoint is longer, when second comparison module compares Go out first apart from when being more than second distance, trigger first determining unit；
First determining unit, for determining airborne vehicle without target waypoint；
When second comparison module, which compares the first distance, is equal to second distance, second determining unit is triggered；
Second determining unit, for determining that airborne vehicle passes by target waypoint；
When second comparison module, which compares the first distance, is less than second distance, the 3rd determining unit is triggered；
3rd determining unit, for determining that airborne vehicle has been subjected to target waypoint.
10. device according to claim 8 or claim 9, it is characterised in that also include：Second setup module and computing module；
Second setup module, for setting normal line, the normal line passes through target waypoint, and with the standard point and The line of shorter another end points of air route section is vertical；
The computing module, for according to airborne vehicle in position P1When the radar time, airborne vehicle is in position P2When radar when Between, P1To the vertical range and P of normal line2To the vertical range of normal line, time of the airborne vehicle Jing Guo target waypoint is calculated, Wherein, P1It is airborne vehicle without position during target waypoint, P2The position for being airborne vehicle after target waypoint.
CN201511021274.XA 2015-12-30 2015-12-30 Method and device for determining whether aircraft passes through target waypoint Expired - Fee Related CN105551311B (en)

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